Mitsubishi Electric MELSEC iQ-R Series User Manual page 53

[Pr.325] Synchronous encoder axis smoothing time constant
Set the averaging time to execute a smoothing process for the input movement amount from synchronous encoder.
The smoothing process can moderate speed fluctuation of the synchronous encoder input.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing
Input value speed
after smoothing
[Pr.325] Synchronous encoder axis
smoothing time constant
[Pr.326] Synchronous encoder axis phase compensation advance time
Set the time to advance or delay the phase (input response) of the synchronous encoder axis.
Refer to the following for the delay time inherent to the system using the synchronous encoder axis.
Page 141 Phase Compensation Function
Setting value Details
1 to 2147483647 [s] Advance the phase (input response) according to the setting time.
0 [s] Do not execute phase compensation.
-2147483648 to -1 [s] Delay the phase (input response) according to the setting time.
If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase
compensation time constant".
[Pr.327] Synchronous encoder axis phase compensation time constant
Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount are reflected in the time constant setting.
Synchronous encoder
axis position value
Speed before phase
compensation
Speed after phase
compensation
[Md.323] Synchronous
encoder axis
phase
compensation
amount
[Pr.327] Synchronous encoder axis
Averaging by
smoothing time constant
[Pr.326] Synchronous encoder axis phase
compensation advance time
Current value after
phase compensation
Speed before
u
phase
compensation
63%
phase compensation time
constant
t
t
[Pr.325] Synchronous encoder axis
smoothing time constant
Current value before phase compensation
[Pr.326] Synchronous encoder
axis phase
compensation advance
time
63%
[Pr.327] Synchronous encoder axis
t
t
t
t
phase compensation time
constant
2 INPUT AXIS MODULE
2.2 Synchronous Encoder Axis
2
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